Hi,

I am trying to create a very simple gyroscope model that just takes the angular rates of a Gazebo link directly from the simulations, adds some noise, and outputs this to ROS. It would be great to get some input on the following:

• Should I use the SensorPlugin class?
• If I do, I need to use the sensor urdf tags in my robot model right? Can I/should I create a custom sensor 'type'? What does the attribute 'type' actually modify?
• Does something like this already exist?

Thanks, Kieran